阅读说明：本技术 一种电机控制方法、装置、存储介质及电机 (Motor control method and device, storage medium and motor ) 是由 全威 潘宗荣 王腾飞 李季 于 2021-01-18 设计创作，主要内容包括：本发明提供一种电机控制方法、装置、存储介质及电机,所述方法包括：采样步骤,用于对所述电机的运行电流进行采样,并根据采样得到的运行电流生成电流运行曲线；获取步骤,用于根据所述电流运行曲线获取相应的运行转速,并获取所述相应的运行转速下的电流谐波分量值；比较步骤,用于将得到的所述电流谐波分量值与预设的相应的运行转速下的目标电流谐波分量值进行比较,以确定所述电机的运行电流是否处于谐波异常状态；调整步骤,用于若确定所述电机的运行电流处于谐波异常状态,则对所述电机的转速进行预设的调整操作。本发明提供的方案能够实现整体运行噪音点的改善。(The invention provides a motor control method, a device, a storage medium and a motor, wherein the method comprises the following steps: a sampling step, which is used for sampling the running current of the motor and generating a current running curve according to the running current obtained by sampling; an obtaining step, which is used for obtaining a corresponding operation rotating speed according to the current operation curve and obtaining a current harmonic component value under the corresponding operation rotating speed; a comparison step of comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operating speed to determine whether the operating current of the motor is in a harmonic abnormal state; and adjusting, namely performing preset adjustment operation on the rotating speed of the motor if the operating current of the motor is determined to be in a harmonic abnormal state. The scheme provided by the invention can realize the improvement of the integral operation noise point.)

1. A motor control method, comprising:

a sampling step, which is used for sampling the running current of the motor and generating a current running curve according to the running current obtained by sampling;

an obtaining step, which is used for obtaining a corresponding operation rotating speed according to the current operation curve and obtaining a current harmonic component value under the corresponding operation rotating speed;

a comparison step of comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operating speed to determine whether the operating current of the motor is in a harmonic abnormal state;

and adjusting, namely performing preset adjustment operation on the rotating speed of the motor if the operating current of the motor is determined to be in a harmonic abnormal state.

2. The method according to claim 1, wherein the preset adjustment operation of the operating speed of the motor comprises:

if the motor is in the acceleration regulation process, sending a regulation instruction to increase the rotation speed regulation rate of the motor to N times of the original rotation speed regulation rate; n is more than or equal to 3;

if the motor is in the process of speed reduction adjustment, sending an adjustment instruction to increase the speed adjustment rate of the motor to N times of the original speed adjustment rate; n is more than or equal to 3.

3. The method of claim 1, further comprising:

after the operation rotating speed of the motor is adjusted in the adjusting step in a preset mode, the acquiring step, the obtaining step and the comparing step are executed again;

and if the operation current of the motor is determined to be in a harmonic abnormal state in the comparison step, executing the adjustment step again.

4. The method according to any one of claims 1 to 3,

and determining the target current harmonic component value under the corresponding operating rotating speed according to a preset corresponding relation curve of the motor operating rotating speed and the target current harmonic component value.

5. A motor control apparatus, comprising:

the sampling unit is used for sampling the running current of the motor and generating a current running curve according to the running current obtained by sampling;

the acquisition unit is used for acquiring corresponding operating rotating speed according to the current operating curve and acquiring a current harmonic component value under the corresponding operating rotating speed;

the comparison unit is used for comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operation rotating speed so as to determine whether the operation current of the motor is in a harmonic abnormal state or not;

and the adjusting unit is used for carrying out preset adjusting operation on the rotating speed of the motor if the operating current of the motor is determined to be in a harmonic abnormal state.

6. The apparatus of claim 5, wherein the adjusting unit performs a preset adjusting operation on the operating speed of the motor, and comprises:

if the motor is in the acceleration regulation process, sending a regulation instruction to increase the rotation speed regulation rate of the motor to N times of the original rotation speed regulation rate; n is more than or equal to 3;

if the motor is in the process of speed reduction adjustment, sending an adjustment instruction to increase the speed adjustment rate of the motor to N times of the original speed adjustment rate; n is more than or equal to 3.

7. The apparatus of claim 6, further comprising:

after the adjusting unit performs preset adjusting operation on the running rotating speed of the motor, the functions of the acquisition unit, the acquisition unit and the comparison unit are executed again;

and if the comparison unit determines that the running current of the motor is in a harmonic abnormal state, the execution unit performs preset adjustment operation on the rotating speed of the motor again.

8. The apparatus according to any one of claims 5 to 7,

and determining the target current harmonic component value under the corresponding operating rotating speed according to a preset corresponding relation curve of the motor operating rotating speed and the target current harmonic component value.

9. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.

10. An electrical machine comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps of the method according to any one of claims 1 to 4, comprising the motor control apparatus according to any one of claims 5 to 8.

Technical Field

The invention relates to the field of control, in particular to a motor control method and device, a storage medium and a motor.

Background

The brushless DC motor has the advantages of simple structure, safe and reliable operation, good speed regulation performance and the like, so the brushless DC motor is widely applied in various industries. Such as an air conditioner, an air cleaner, a washing machine, etc. In these applications, in addition to the relatively high demands made on the performance and cost of the electric machine itself, there are also high demands made on the noise during operation. The noise of the brushless direct current motor is mainly divided into two types: mechanical noise and electromagnetic noise. The mechanical noise is mainly generated during the operation of the motor, and the generation reasons are more. For example: the motor is not installed in place, the operation is manual, the motor equipment is prone to failure after long-time operation, or internal elements of the motor deform to generate friction and the like.

The electromagnetic noise is from electromagnetic vibration, and the electromagnetic vibration is excited by electromagnetic force waves generated by the action of an air gap magnetic field of the motor on a motor iron core. When the frequency and the order of the electromagnetic force wave are close to or consistent with the corresponding natural frequency and the modal order of the stator, the motor generates a resonance effect, and at the moment, the electromagnetic vibration and the electromagnetic noise of the motor are particularly obvious. Because the interaction of the stator magnetic field and the rotor magnetic field exists in the motor, the operation of the internal magnetic field is complex, the current harmonic content is high, the harmonic electromagnetic force of the main noise source of the motor is high, the noise vibration of the motor is high, and the electromagnetic noise is caused.

At present, a motor often needs to match multiple air conditioner loads, and when the same motor runs on different loads, noise can be generated at different rotating speed points, and the noise point is avoided to the mode is generally improved to traditional scheme of improving the noise point on complete machine or structure, needs to carry out a large amount of changes and a large amount of verification work, and the problem that the existing time is of a specified duration, and the work load is big.

Disclosure of Invention

The present invention is directed to overcome the above-mentioned drawbacks of the prior art, and provides a motor control method, device, storage medium, and motor, so as to solve the problems that the scheme for improving noise points in the prior art needs a lot of modifications and a lot of verification work.

One aspect of the present invention provides a motor control method, including: a sampling step, which is used for sampling the running current of the motor and generating a current running curve according to the running current obtained by sampling; an obtaining step, which is used for obtaining a corresponding operation rotating speed according to the current operation curve and obtaining a current harmonic component value under the corresponding operation rotating speed; a comparison step of comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operating speed to determine whether the operating current of the motor is in a harmonic abnormal state; and adjusting, namely performing preset adjustment operation on the rotating speed of the motor if the operating current of the motor is determined to be in a harmonic abnormal state.

Optionally, the preset adjustment operation on the running rotation speed of the motor includes: if the motor is in the acceleration regulation process, sending a regulation instruction to increase the rotation speed regulation rate of the motor to N times of the original rotation speed regulation rate; n is more than or equal to 3; if the motor is in the process of speed reduction adjustment, sending an adjustment instruction to increase the speed adjustment rate of the motor to N times of the original speed adjustment rate; n is more than or equal to 3.

Optionally, the method further comprises: after the operation rotating speed of the motor is adjusted in the adjusting step in a preset mode, the acquiring step, the obtaining step and the comparing step are executed again; and if the operation current of the motor is determined to be in a harmonic abnormal state in the comparison step, executing the adjustment step again.

Optionally, the target current harmonic component value at the corresponding operating speed is determined according to a preset corresponding relationship curve between the motor operating speed and the target current harmonic component value.

Another aspect of the present invention provides a motor control apparatus, including: the sampling unit is used for sampling the running current of the motor and generating a current running curve according to the running current obtained by sampling; the acquisition unit is used for acquiring corresponding operating rotating speed according to the current operating curve and acquiring a current harmonic component value under the corresponding operating rotating speed; the comparison unit is used for comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operation rotating speed so as to determine whether the operation current of the motor is in a harmonic abnormal state or not; and the adjusting unit is used for carrying out preset adjusting operation on the rotating speed of the motor if the operating current of the motor is determined to be in a harmonic abnormal state.

Optionally, the adjusting unit performs a preset adjusting operation on the operating speed of the motor, and includes: if the motor is in the acceleration regulation process, sending a regulation instruction to increase the rotation speed regulation rate of the motor to N times of the original rotation speed regulation rate; n is more than or equal to 3; if the motor is in the process of speed reduction adjustment, sending an adjustment instruction to increase the speed adjustment rate of the motor to N times of the original speed adjustment rate; n is more than or equal to 3.

Optionally, the method further comprises: after the adjusting unit performs preset adjusting operation on the running rotating speed of the motor, the functions of the acquisition unit, the acquisition unit and the comparison unit are executed again; and if the comparison unit determines that the running current of the motor is in a harmonic abnormal state, the execution unit performs preset adjustment operation on the rotating speed of the motor again.

Optionally, the target current harmonic component value at the corresponding operating speed is determined according to a preset corresponding relationship curve between the motor operating speed and the target current harmonic component value.

A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.

A further aspect of the invention provides an electrical machine comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps of any of the methods described above.

In a further aspect, the invention provides an electric machine comprising a motor control apparatus as described in any one of the preceding claims.

According to the technical scheme of the invention, the running current of the motor is sampled in real time, the current sampling curve is combined to judge whether the harmonic component value of the running current of the motor is abnormal or not, if the harmonic component value is judged to be abnormal, the rotating speed of the motor is adjusted, and a frequency swing strategy is adopted to avoid noise points from being excited, so that the improvement of the integral running noise points is realized. Improve the motor noise of motor from motor speed governing control direction, through based on the quick pendulum frequency of harmonic component size, applicable multiple application operating mode possesses autonomous recognition ability, avoids when matcing different loads, and the motor noise appears and needs a large amount of rectification matching test work, and the range of application is extensive, has realized good control effect, promotes the performance of motor.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a method schematic diagram of one embodiment of a motor control method provided by the present invention;

FIG. 2 is a schematic diagram showing a process of sampling operating voltages and operating currents of U-phase, V-phase and W-phase;

FIG. 3 is a schematic diagram showing comparison of whether the harmonic component level at a rotation speed point is abnormal or not by a current operation curve and a correspondence curve of different operation rotation speeds with a target current harmonic component value;

FIG. 4 is a method diagram illustrating one embodiment of a method for controlling a motor provided by the present invention;

FIG. 5a shows a schematic diagram of the variation of the rotational speed without adjusting the rate of speed adjustment;

FIG. 5b shows a schematic diagram of the variation of the rotational speed for adjusting the rate of speed adjustment;

fig. 6 is a block diagram of a motor control device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The invention provides a motor control method. The method comprises the following steps: a sampling step, which is used for sampling the running current of the motor and generating a current running curve according to the running current obtained by sampling; an obtaining step, which is used for obtaining a corresponding operation rotating speed according to the current operation curve and obtaining a current harmonic component value under the corresponding operation rotating speed; a comparison step of comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operating speed to determine whether the operating current of the motor is in a harmonic abnormal state; and adjusting, namely performing preset adjustment operation on the rotating speed of the motor if the operating current of the motor is determined to be in a harmonic abnormal state.

Fig. 1 is a schematic method diagram of an embodiment of a motor control method provided by the present invention.

As shown in fig. 1, according to an embodiment of the present invention, the motor control method includes at least a sampling step S110, an obtaining step S120, a comparing step S130, and an adjusting step S140.

And step S110, sampling the running current of the motor, and generating a current running curve according to the running current obtained by sampling.

Specifically, the real-time operating power P (P ═ U × I) of the motor can be obtained by sampling the operating voltages and operating currents of the U phase, the V phase and the W phase of the motor and combining the bus voltage and the bus current under the current motor operating condition. And drawing a current operation curve of the motor according to the sampling result of the operation current. As described above with reference to fig. 2, fig. 2 is a schematic diagram showing a process of sampling the operating voltages and operating currents of the U-phase, V-phase, and W-phase. As shown in fig. 2, the corresponding operating speed can be obtained from the operating current.

And step S120, acquiring a corresponding operating rotating speed according to the current operating curve, and acquiring a current harmonic component value at the corresponding operating rotating speed.

In particular, a corresponding operating speed can be determined from the current operating curve. The speed N of the synchronous machine is 60f/p, p represents the pole pair number of the machine, f represents the frequency of the stator current, f is known, and the speed N can be calculated.

The current harmonic component value at a certain rotating speed point can be calculated and analyzed according to the current running curve based on the certain rotating speed point (the harmonic component value can present the level of the noise value).

Step S130, comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operating speed to determine whether the operating current of the motor is in a harmonic abnormal state.

In some specific embodiments, a correspondence curve between the motor operating speed and the target current harmonic component value is preset and stored, and the target current harmonic component value at the corresponding operating speed is determined according to the preset correspondence curve between the motor operating speed and the target current harmonic component value, so that the obtained current harmonic component value is compared with the preset target current harmonic component value at the corresponding operating speed to determine whether the operating current of the motor is in a harmonic abnormal state. The target current harmonic component value is specifically the maximum harmonic component value that is acceptable at the corresponding operating speed, beyond which the noise becomes unacceptable.

For example, different corresponding relationship curves of the operation rotating speed and the harmonic component value of the target current are stored in the controller in advance. And comparing the harmonic component value corresponding to the currently acquired rotating speed with the target current harmonic component value stored in the controller, and judging whether the level of the harmonic component of the rotating speed point is abnormal or not. When the obtained current harmonic component value is smaller than a preset target current harmonic component value at a corresponding operation rotating speed, judging that the operation current of the motor is in a normal harmonic operation state; when the obtained current harmonic component value is larger than or equal to a preset target current harmonic component value at a corresponding operation rotating speed, the operation current of the motor can be judged to be in a harmonic abnormal state, a high-frequency noise signal can be excited, and the motor is in an abnormal harmonic operation state. The above process may refer to fig. 3, and fig. 3 shows a schematic diagram comparing whether the level of the harmonic component of the rotation speed point is abnormal or not by the current operation curve and the correspondence curve of the different operation rotation speeds and the harmonic component value of the target current.

Optionally, the harmonic component levels of N rotation speed points corresponding to N groups of continuously collected operation currents may be compared to determine whether the harmonic component levels are abnormal, according to the current operation curve and the corresponding relationship curve between different operation rotation speeds and the target current harmonic component value.

Step S140, if it is determined that the operating current of the motor is in the harmonic abnormal state, performing a preset adjustment operation on the rotation speed of the motor.

When the motor is in a normal harmonic wave running state, the running noise of the motor is in a good state, and no external means is needed for intervention; when the motor is in an abnormal harmonic (harmonic abnormal) running state, the running noise of the motor is in an abnormal state; at this time, a preset adjustment operation needs to be performed on the rotation speed of the motor. The preset adjustment operation is wobble frequency processing. The points of the motor which are easy to generate noise are subjected to rapid wobble frequency processing, so that the rotating speed of the motor can be rapidly increased or reduced, abnormal harmonic content points can be rapidly skipped, the possibility of noise excitation by abnormal energy points is avoided, and good auditory perception is obtained.

In some embodiments, the preset adjustment operation of the operating speed of the motor includes: and sending an adjusting instruction to increase the rotating speed adjusting rate of the motor to N times.

Specifically, if the motor is in the acceleration regulation process, sending a regulation instruction to increase the rotation speed regulation rate of the motor to N times of the original rotation speed regulation rate; n is more than or equal to 3. More specifically, if the motor is in the acceleration adjustment process, the rotation speed of the motor needs to be accelerated, so that the rotation speed of the motor can rapidly rise under low noise to reach the rotation speed for skipping the abnormal harmonic component point. For example, an adjustment command is sent to increase the rotational speed adjustment rate of the motor by 3 times, and the acceleration process is performed.

If the motor is in the process of speed reduction adjustment, sending an adjustment instruction to increase the speed adjustment rate of the motor to N times of the original speed adjustment rate; n is more than or equal to 3. More specifically, if the motor is in the deceleration adjusting process, the rotation speed of the motor needs to be decelerated, so that the rotation speed of the motor can be rapidly reduced under low noise to reach the rotation speed for skipping the abnormal harmonic component point. For example, an adjustment command is sent to increase the rate of the rotational speed adjustment by 3 times, and the deceleration process is performed.

Optionally, the present speed, current, voltage and/or power is recorded at the present abnormal harmonic component speed point. Monitoring the running rotating speed and current in real-time control to analyze harmonic components; the voltage and power are monitored to adjust the adjusting speed according to the range of the voltage and power, and when the voltage and power are in a high rotating speed and high power section, the adjusting speed needs to be reduced, so that the phenomenon that the voltage or power is overshot, the system is vibrated or the bearable working voltage or power is exceeded, and the controller is in fault is avoided.

Optionally, after the adjusting step performs a preset adjusting operation on the operating speed of the motor, the acquiring step, the obtaining step and the comparing step are performed again; and if the operation current of the motor is determined to be in a harmonic abnormal state in the comparison step, executing the adjustment step again. That is, after the preset adjustment operation is performed on the operation rotating speed of the motor, the operation current of the motor is sampled again, and a current operation curve is generated according to the operation current obtained by sampling, acquiring corresponding operating rotating speed according to the current operating curve, acquiring current harmonic component values at the corresponding operating rotating speed, and comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operating speed, to determine whether the operating current of the motor is in a harmonic abnormal state, and if it is determined that the operating current of the motor is in the harmonic abnormal state, the adjusting step is executed again, and carrying out preset adjustment operation on the rotating speed of the motor until the abnormal point of the harmonic component is skipped, recovering to the original running state, and running according to the original running speed and acceleration.

The embodiment of the invention substantially avoids the phenomenon that the motor stays for too long time at an abnormal rotating speed point and is easy to excite a noise model by changing the adjusting speed, and the change speed of the electric signal is far greater than that of the mechanical signal. Fig. 5a shows a schematic representation of the change in rotational speed without adjustment of the rotational speed adjustment rate. Fig. 5b shows a schematic diagram of the variation of the rotational speed for adjusting the rate of speed adjustment according to the invention. The horizontal axis is an adjusting signal, the vertical axis is a rotating speed, and when the invention is not adopted, the harmonic component of the abnormal rotating speed point is easy to excite a noise point in the process of slowly adjusting the rotating speed, thereby causing poor hearing feeling. By adopting the invention, the points of the motor which are easy to generate noise are quickly adjusted, so that the rotating speed of the motor can be quickly increased or decreased, thereby quickly skipping the abnormal harmonic content points, avoiding the possibility that the abnormal energy rotating speed points excite the noise and obtaining good hearing feeling.

For clearly explaining the technical solution of the present invention, the following describes an execution flow of the motor control method provided by the present invention with a specific embodiment.

Fig. 4 is a schematic method diagram of a motor control method according to an embodiment of the present invention. As shown in fig. 4, the current operating current of the motor is sampled, and a current operating curve is generated according to the sampled operating current; reading the current operating rotating speed according to the current operating curve, and acquiring a current harmonic component value at the corresponding operating rotating speed; judging whether the harmonic component is abnormal; and if the harmonic component is judged to be abnormal, carrying out preset adjustment operation on the rotating speed of the motor. If the motor is in the acceleration regulation process, sending a regulation instruction to increase the rotation speed regulation rate of the motor to N times of the original rotation speed regulation rate; if the motor is in the process of speed reduction adjustment, an adjustment instruction is sent to increase the speed adjustment rate of the motor to N times, or braking is carried out to accelerate speed reduction.

Fig. 6 is a block diagram of a motor control device according to an embodiment of the present invention. As shown in fig. 6, the motor control apparatus 100 includes a sampling unit 110, an obtaining unit 120, a comparing unit 130, and an adjusting unit 140.

The sampling unit 110 is configured to sample an operating current of the motor, and generate a current operating curve according to the sampled operating current.

Specifically, the sampling unit 110 may obtain the real-time operating power P (P ═ U × I) of the motor by sampling the operating voltages and operating currents of the U phase, the V phase, and the W phase of the motor and combining the bus voltage and the bus current under the current motor operating condition. And drawing a current operation curve of the motor according to the sampling result of the operation current. As described above with reference to fig. 2, fig. 2 is a schematic diagram showing a process of sampling the operating voltages and operating currents of the U-phase, V-phase, and W-phase. As shown in fig. 2, the corresponding operating speed can be obtained from the operating current.

The obtaining unit 120 is configured to obtain a corresponding operating speed according to the current operating curve, and obtain a current harmonic component value at the corresponding operating speed.

In particular, a corresponding operating speed can be determined from the current operating curve. For example, the speed N of the synchronous machine is 60f/p, p represents the number of pole pairs of the machine, f represents the frequency of the stator current, f is known, and the speed N can be calculated. The current harmonic component value at a certain rotating speed point can be calculated and analyzed according to the current running curve based on the certain rotating speed point (the harmonic component value can present the level of the noise value).

The comparing unit 130 is configured to compare the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operating speed, so as to determine whether the operating current of the motor is in a harmonic abnormal state.

In some embodiments, a correspondence curve between the operating rotation speed of the motor and the harmonic component value of the target current is preset and stored, and the comparing unit 130 determines the harmonic component value of the target current at the corresponding operating rotation speed according to the preset correspondence curve between the operating rotation speed of the motor and the harmonic component value of the target current, so as to compare the obtained harmonic component value of the current with the preset harmonic component value of the target current at the corresponding operating rotation speed, so as to determine whether the operating current of the motor is in the harmonic abnormal state. The target current harmonic component value is specifically the maximum harmonic component value that is acceptable at the corresponding operating speed, beyond which the noise becomes unacceptable.

For example, different corresponding relationship curves of the operation rotating speed and the harmonic component value of the target current are stored in the controller in advance. And comparing the harmonic component value corresponding to the currently acquired rotating speed with the target current harmonic component value stored in the controller, and judging whether the level of the harmonic component of the rotating speed point is abnormal or not. When the obtained current harmonic component value is smaller than a preset target current harmonic component value at a corresponding operation rotating speed, judging that the operation current of the motor is in a normal harmonic operation state; when the obtained current harmonic component value is larger than or equal to a preset target current harmonic component value at a corresponding operation rotating speed, the operation current of the motor can be judged to be in a harmonic abnormal state, a high-frequency noise signal can be excited, and the motor is in an abnormal harmonic operation state. The above process may refer to fig. 3, and fig. 3 shows a schematic diagram comparing whether the level of the harmonic component of the rotation speed point is abnormal or not by the current operation curve and the correspondence curve of the different operation rotation speeds and the harmonic component value of the target current.

Optionally, the harmonic component levels of N rotation speed points corresponding to N groups of continuously collected operation currents may be compared to determine whether the harmonic component levels are abnormal, according to the current operation curve and the corresponding relationship curve between different operation rotation speeds and the target current harmonic component value.

The adjusting unit 140 is configured to perform a preset adjusting operation on the rotation speed of the motor if it is determined that the operating current of the motor is in the harmonic abnormal state.

When the motor is in a normal harmonic wave running state, the running noise of the motor is in a good state, and no external means is needed for intervention; when the motor is in an abnormal harmonic (harmonic abnormal) running state, the running noise of the motor is in an abnormal state; at this time, a preset adjustment operation needs to be performed on the rotation speed of the motor. The preset adjustment operation is wobble frequency processing. The points of the motor which are easy to generate noise are subjected to rapid wobble frequency processing, so that the rotating speed of the motor can be rapidly increased or reduced, abnormal harmonic content points can be rapidly skipped, the possibility of noise excitation by abnormal energy points is avoided, and good auditory perception is obtained.

In some embodiments, the adjusting unit 140 performs a preset adjusting operation on the operating speed of the motor, including: and sending an adjusting instruction to increase the rotating speed adjusting rate of the motor to N times.

Specifically, if the motor is in the acceleration adjustment process, the adjustment unit 140 sends an adjustment instruction to increase the rotation speed adjustment rate of the motor by N times; n is more than or equal to 3. More specifically, if the motor is in the acceleration adjustment process, the rotation speed of the motor needs to be accelerated, so that the rotation speed of the motor can rapidly rise under low noise to reach the rotation speed for skipping the abnormal harmonic component point. For example, an adjustment command is sent to increase the rotational speed adjustment rate of the motor by 3 times, and the acceleration process is performed.

If the motor is in the process of speed reduction adjustment, the adjusting unit 140 sends an adjustment instruction to increase the speed adjustment rate of the motor by N times; n is more than or equal to 3. More specifically, if the motor is in the deceleration adjusting process, the rotation speed of the motor needs to be decelerated, so that the rotation speed of the motor can be rapidly reduced under low noise to reach the rotation speed for skipping the abnormal harmonic component point. For example, an adjustment command is sent to increase the rate of the rotational speed adjustment by 3 times, and the deceleration process is performed.

Optionally, the present speed, current, voltage and/or power is recorded at the present abnormal harmonic component speed point. Monitoring the running rotating speed and current in real-time control to analyze harmonic components; the voltage and power are monitored to adjust the adjusting speed according to the range of the voltage and power, and when the voltage and power are in a high rotating speed and high power section, the adjusting speed needs to be reduced, so that the phenomenon that the voltage or power is overshot, the system is vibrated or the bearable working voltage or power is exceeded, and the controller is in fault is avoided.

Optionally, after the adjusting step performs a preset adjusting operation on the operating speed of the motor, the acquiring step, the obtaining step and the comparing step are performed again; and if the operation current of the motor is determined to be in a harmonic abnormal state in the comparison step, executing the adjustment step again. That is, after the preset adjustment operation is performed on the operation rotating speed of the motor, the operation current of the motor is sampled again, and a current operation curve is generated according to the operation current obtained by sampling, acquiring corresponding operating rotating speed according to the current operating curve, acquiring current harmonic component values at the corresponding operating rotating speed, and comparing the obtained current harmonic component value with a preset target current harmonic component value at a corresponding operating speed, to determine whether the operating current of the motor is in a harmonic abnormal state, and if it is determined that the operating current of the motor is in the harmonic abnormal state, the adjusting step is executed again, and carrying out preset adjustment operation on the rotating speed of the motor until the abnormal point of the harmonic component is skipped, recovering to the original running state, and running according to the original running speed and acceleration.

The embodiment of the invention substantially avoids the phenomenon that the motor stays for too long time at an abnormal rotating speed point and is easy to excite a noise model by changing the adjusting speed, and the change speed of the electric signal is far greater than that of the mechanical signal. Fig. 5a shows a schematic representation of the change in rotational speed without adjustment of the rotational speed adjustment rate. Fig. 5b shows a schematic diagram of the variation of the rotational speed for adjusting the rate of speed adjustment according to the invention. The horizontal axis is an adjusting signal, the vertical axis is a rotating speed, and when the invention is not adopted, the harmonic component of the abnormal rotating speed point is easy to excite a noise point in the process of slowly adjusting the rotating speed, thereby causing poor hearing feeling. By adopting the invention, the points of the motor which are easy to generate noise are quickly adjusted, so that the rotating speed of the motor can be quickly increased or decreased, thereby quickly skipping the abnormal harmonic content points, avoiding the possibility that the abnormal energy rotating speed points excite the noise and obtaining good hearing feeling.

The scheme of judging the noise and carrying out the wobble frequency processing based on the harmonic analysis can carry out online autonomous judgment and identification on different motors under different working conditions, analyze the harmonic type of the current motor operation, judge whether the motor operates in a noise interval, and adopt a measure of fast wobble frequency based on the harmonic component size to avoid the excitation of noise points, thereby realizing the improvement of the noise sense of the motor.

The invention also provides a storage medium corresponding to the motor control method, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of any of the methods described above.

The invention also provides a motor corresponding to the motor control method, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any one of the methods.

The invention also provides a motor corresponding to the motor control device, which comprises any one of the motor control devices.

Therefore, according to the scheme provided by the invention, the running current of the motor is sampled in real time, whether the harmonic component value of the running current of the motor is abnormal or not is judged by combining a current sampling curve, if the harmonic component value is abnormal, the rotating speed of the motor is adjusted, a frequency swing strategy is adopted, and a noise point is prevented from being excited, so that the noise sense of the motor is improved, and the improvement of the whole running noise point is realized. Through based on harmonic component size quick pendulum frequency, applicable multiple application operating mode possesses independently the identification ability, avoids when matcing different loads, and the motor noise appears and needs a large amount of rectification matching test work, and the range of application is extensive, has realized good control effect, promotes the performance of motor.

The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.